CN201327585Y - 3G robot - Google Patents
3G robot Download PDFInfo
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- CN201327585Y CN201327585Y CNU200820139561XU CN200820139561U CN201327585Y CN 201327585 Y CN201327585 Y CN 201327585Y CN U200820139561X U CNU200820139561X U CN U200820139561XU CN 200820139561 U CN200820139561 U CN 200820139561U CN 201327585 Y CN201327585 Y CN 201327585Y
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Abstract
The utility model provides a 3G robot based on a mobile telecommunication network, which comprises a 3G mobile phone based on the 3G mobile telecommunication network, an adapter, an intelligent control system, a mobile monitoring system, as well as household equipment communicating with the 3G robot, wherein the intelligent control system comprises a modulation/demodulation unit, a speech recognition unit, an alarming subsystem, a household electrical appliance control subsystem and a control unit. The utility model mobile can receive a remote video or speech control commands to control the walking and the video monitoring of the robot through the 3G mobile telecommunication network, and control on/off status of an intelligent household electrical appliance, and the 3G robot can send an image monitor picture and an alarming message to a specified 3G mobile phone through the 3G mobile telecommunication network. The utility model can be applied to family remote communication and monitoring and intelligent household control.
Description
Technical field
The utility model relates to a kind of 3G robot, and the particularly a kind of 3G of utilization mobile communication network carries out the 3G robot of Long-distance Control, safety monitoring and intelligent appliance control by video communication or speech communication.
Background technology
Social now, people's rhythm of life is more and more faster, the time of being in is fewer and feweri, but the attention for family is growing on and on, requirement to domestic environment is also more and more higher, along with constantly improving and development of household's IT application technology, the convenience of the security protection problem that people may occur family, electrical equipment management and control and entertainment interactive has had more control power and right to choose.
Present intelligent domestic system can relate to many aspects such as Lighting Control Assembly, domestic safety prevention system, electrical apparatus control system, internet remote monitoring, telephone remote control, Network Video Surveillance, indoor wireless remote control, manages or manages by calling or send SMS but mainly be based on www on implementation.These implementations can not satisfy that people carry out information communication whenever and wherever possible and to the effective demand of control and security monitoring of home equipment.
Along with the 3G mobile communication network the carrying forward vigorously of China, how to rely on the 3G mobile communication network, develop and cut the actual demand of satisfying people, realize that intellectuality, digitizing, informationalized Smart Home product are our goals in research.
Summary of the invention
The purpose of this utility model is achieved in that provides a kind of based on the 3G mobile communication network, can utilize the 3G mobile to carry out the 3G robot of Long-distance Control, safety monitoring and intelligent appliance control by video communication or speech communication mode.
In order to solve the problems of the technologies described above, the utility model proposes a kind of 3G robot based on the 3G mobile communication network, comprise 3G mobile and mobile monitoring system based on described 3G mobile communication network, it is characterized in that, also comprise the intelligence control system that connects described 3G mobile and mobile monitoring system; The adapter that connects described 3G mobile and intelligence control system; Described intelligence control system also comprises the control module that is used to connect voice recognition unit, mobile monitoring system, warning subsystem, household electrical appliances control subsystem.
Adapter of the present utility model is the 3G mobile pedestal that is fixed in the 3G robot, has the fixedly effect of 3G mobile, and has the function for the 3G mobile charging.
3G of the present utility model robot also comprises an intelligence control system that is used to control household electrical appliances, watch-dog and control robot walking.This intelligence control system comprises the household electrical appliances control subsystem that connects described processed voice decoded speech decoding unit respectively and connect described transmission control intelligent appliance equipment, and is used for and accepts the warning subsystem that wireless alarm devices transmits warning message.
The transmitting set that described household electrical appliances control subsystem comprises a plurality of coding units that connect described processing unit bus respectively and connects described a plurality of coding unit outputs.Described transmitting set is to the wireless control signal of wireless receiver emission through encoding of various intelligent electric light/electrical equipment, the electric light of this wireless control signal of decodable code/electric appliance wireless receiver is by this wireless control signal of decoding, relay switch or electronic switch that its make and break contact is serially connected on the mains supply loop move, thereby are switched on or switched off electric light and/or electrical equipment.
Wireless launcher can be radiofrequency launcher or infrared transmitter.If radiofrequency launcher then should have modulator, power promotion level and antenna.
The utility model also comprises the warning subsystem that connects control module.This warning subsystem comprises the wireless receiver of the wireless signal that receiving gate Magnetic Sensor, smoke transducer, temperature sensor, infrared sensor are launched; Connect a plurality of decoder elements of described wireless receiver output, described a plurality of decoder elements are via bus connection processing unit.
The utility model also comprises the two-way voice transmissions device that connects control module, and this two-way voice transmissions device comprises the modem module that is used for the described 3G mobile of demodulation institute received speech signal and is used for the voice recognition unit that decoded speech is instructed and is converted into control signal.
Described modem module comprises a double-directional speech amplifier and the microphone of a microphone input amplifier input end that is connected the double-directional speech amplifier respectively and the loudspeaker of a voice driving amplifier output terminal at least, and the input end of the described voice driving amplifier of this double-directional speech amplifier and the output terminal of microphone input amplifier are via bus connection processing unit.
The mode that 3G mobile described in the utility model and 3G robot send information comprises: video calling or voice call.
3G described in the utility model robot based on the 3G mobile communications network comprise: TD-SCDMA network or CDMA2000 network or WCDMA network.
3G described in the utility model robot can control by 3G mobile and telepilot dual mode.
Technique effect of the present utility model is, by a 3G robot is set in the family, the mutual communication of 3G mobile that this robot can carry by 3G mobile communication network and user, the open and close that the user controls robot ambulation in the family, video monitoring room availability and controls intelligent appliance by video or speech communication mode, and this robot can also send image monitoring picture and warning message to the 3G mobile of appointment automatically by the 3G mobile communications network.
The utility model can be applicable to household long-range communication, monitoring and Smart Home control, has improved the security of family.
Below in conjunction with accompanying drawing the utility model is elaborated.
Description of drawings
Fig. 1 is 3G robot architecture figure of the present utility model;
Fig. 2 is the circuit theory diagrams of the household electrical appliances control subsystem among Fig. 1;
Fig. 3 is the circuit theory diagrams of the warning subsystem among Fig. 1;
Fig. 4 is based on a tame electric control application scenarios data flowchart of 3G of the present utility model robot;
Fig. 5 is based on a security alarm application scenarios data flowchart of 3G of the present utility model robot;
Fig. 6 is based on an application scenarios data flowchart of 3G of the present utility model robot;
Fig. 7 is based on the communication modes figure of 3G of the present utility model robot;
Embodiment
Fig. 1 has shown the structure of the 3G robot 10 based on 3G mobile communication network 11 of the present utility model.As shown in Figure 1,3G robot 10 comprises 3G mobile 1 and mobile monitoring system 8.
3G of the present utility model robot 10 also comprises: the intelligence control system 9 that connects described 3G mobile 1 and mobile monitoring system 8; The adapter 2 that connects described 3G mobile 1 and intelligence control system 9.
Intelligence control system 9 of the present utility model also comprises the control module 5 that is used to connect voice recognition unit 4, mobile monitoring system 8, warning subsystem 6, household electrical appliances control subsystem 7.
3G of the present utility model robot 10 also comprises a household electrical appliances control subsystem 7 that connects control module 5, the structure of this household electrical appliances control subsystem 7 as shown in Figure 2, the wireless launcher 72 that comprises a plurality of coding unit 75-1,75-2, the 75-n that connects described control module 5 buses respectively and connect described a plurality of coding unit 75-1,75-2,75-n output.
Described transmitting set 72 is to the wireless control signal of each electric light/electric appliance wireless receiver emission through coding, the electric light of this wireless control signal of decodable code/electric appliance wireless receiver is (not shown, can be separately positioned near corresponding electric light/electrical equipment) by this wireless control signal of decoding, relay switch or electronic switch that its make and break contact is serially connected on the mains supply loop move, thereby are switched on or switched off electric light/electrical equipment.
3G of the present utility model robot 10 also comprises the warning subsystem 6 that connects control module 5.The structure of this warning subsystem 6 comprises the wireless receiver 62 of the wireless signal that the transmitter of each safety alarm sensor such as receiving gate Magnetic Sensor, smoke sensor, temperature sensor, infrared sensor is launched as shown in Figure 3; Connect 62 outputs of described wireless receiver a plurality of decoder element 65-1,65-2 ... 65-n, described a plurality of decoder element 65-1,65-2 ... 65-n connects control module 5 via bus.
The transmitter of safety alarm sensor sends the wireless signal of respectively sensor of each sensor being encoded, therefore by a plurality of decoder elements this wireless signal of decoding, just can determine that the wireless alarm signal that is received belongs to the signal of which sensor, like this, press the predetermined protocol processing and pass through voice recognition unit 4 decodings via control module 5, send voice messaging to remote terminal after, remote terminal just can pass through the sensor of Video Detection abnormal conditions.
The control module 5 of 3G of the present utility model robot 10 by resolve voice recognition unit 4 via 3G mobile communication networking from the operational order that remote terminal 3G mobile 1 receives, it is decomposed into corresponding sub-instructions data so that
1) the corresponding motor work of control 3G robot 10, thus 3G robot 10 is walked according to the instruction of remote terminal;
2) the cleaning machine operation of control 3G robot 10, thus robot is cleaned according to the instruction of remote terminal or clean with the sweeper mode of appointment;
3) corresponding switch is carried out the on/off operation in the control household electrical appliances control subsystem 7, thereby realizes the Long-distance Control of remote terminal to light, electrical equipment.
3G of the present utility model robot 10 utilizes 315M/433M/868M/915M to exempt from licence plate frequency range Radio Transmission Technology when work, adopt encryption communication agreement and door magnetic, cigarette sense, temperature sense, household electrical appliances such as security alarm device 13, light, electrical equipment 14 such as infrared to form the on-site signal passages, the on-site signal passage is used to transmit security alarm information and light/electrical appliance control signal.
3G of the present utility model robot 10 adopts the wheel type traveling mechanisms walking, can send the voice control signal by remote mobile communication terminal 3G mobile 1 and command its walking arbitrarily at the scene; And optionally in remote mobile communication terminal 3G mobile 1, watch, store all on-the-spot situations.
3G of the present utility model robot 10 has automatic cleaning function, and can send remote control signals by remote computer 11 and control the zone of its cleaning and the mode of cleaning.
3G of the present utility model robot 10 has light/electric control function, can send on-the-spot light/electrical equipment 14 working methods of remote control signal control by 3G mobile 1.
3G of the present utility model robot 10 has the security alarm function, and when door magnetic, cigarette sense, temperature sense, when security alarm device 13 such as infrared produces alerts, this machine sends discernible audio alert signal to remote mobile communication terminal 3G mobile 1.
3G of the present utility model robot 10 has the two-way voice transmissions function, can communicate with each other with sound between remote mobile communication terminal 3G mobile 1 and 3G robot 10, the user is increased monitor and the on-the-spot ability of control.
3G of the present utility model robot 10 can utilize the automatic charging module (charging by the received RF electric energy) of mobile monitoring system 8 to charge automatically, utilizes infrared and displacement transducer can be protected oneself to greatest extent at the scene that nobody looks after.
Cooperate diagram below, the application scenarios of the utility model based on the 3G robot of 3G mobile communication network is described by 3 examples.
Household electrical appliances control operation flow process as shown in Figure 4, when control module 5 is decoded via voice recognition unit 4, receive when 3G mobile 1 is opened the instruction of air-conditioning 16, processing unit 1 will send to coding unit 75-1 according to corresponding address to the open command that should instruct, after be transmitted to by wireless launcher 72 can be to the wireless receiver of the control air-conditioning 16 of its decoding, this receiver is connected the mains supply of air-conditioning 16 to coding unit 75-1 subsequently to opening order number.
In the summer of weather sweltering heat, the user returns home preceding half an hour, uses the 3G mobile of carrying to dial the 3G robot number of family, connects back voice indication: " opening air-conditioning " (step 1); The 3G robot receives this voice indication back conversion instruction form and transmits to turn on the aircondition and instruct to air-conditioning (step 2 and 3); This order allows the air-conditioning in the family open, wait the user to open the door to family after, have a nice and cool temperature in the family, can the return result after air-conditioning is opened give user's 3G mobile (step 4 and 5).
The monitoring alarm working method as shown in Figure 5, imagination has a robber to enter in the user family suddenly, the video camera of 3G robot triggers the mobile detection function in the family, dials the 3G mobile that the user carries immediately and reports to the police, and start video record and camera function (step 1); The 3G robot arrives the storage space of appointment by the 3G mobile communication network with video flowing and picture-storage on the one hand, gives User Alarms (step 2-3) by voice call on the other hand; The user is after receiving the audio alert information of phone, but the starting hand-set video implements to check the situation in the family, and ensure public security and the police in the alert notice sub-district immediately.The user can utilize the video file and the picture of transmission of 3G robot and backup to provide strong evidence to the police afterwards.
Fig. 6 is based on the utility model 3G robot architecture's a specific implementation case.As shown in Figure 6, this 3G robot mainly comprises user's portable terminal 3G mobile 1,3G mobile communication network 11,3G robot 10 and home equipment 12-15.The effect of 3G robot 10 is can be as a communication terminal, finish the voice and video call function, agency as family and outside communication terminal communication finishes procotol and conversion, can initiatively call when predefined incident is triggered and notify the user; Have memory function, can the store video monitor data, the user is extended memory as required also.
The user can dial the number of 3G robot whenever and wherever possible with the 3G mobile of carrying, management 3G robot, the 3G robot checks user's associated rights by telephone number, by the 3G mobile communication network, the 3G robot transmits user's operating command to relevant home equipment, and be transmitted to back 3G robot after the operational feedback of controlled home equipment, the 3G robot is transmitted to related feedback information user's communication terminal 3G mobile again.
The user can obtain the video image of household inside anywhere or anytime by the 3G mobile communication network on the communication terminal 3G mobile of carrying, the 3G robot also can preestablishing according to the user, under the situation that dependent event is triggered, initiatively dial voice call, notify the user, and video media flows to user's mobile communication client.
In sum, the utility model can be by the device of 3G mobile communication network receiving remote steering order by being provided with on cleaning robot, and by the device of 3G mobile communication network from trend remote terminal 3G mobile transmitting monitoring and alerting signal, thereby make cleaning robot have remote monitoring function, make cleaning robot become that collection is kept a public place clean, security monitoring and light/electrical equipment control are the family helper of one.
Although above the utility model is had been described in detail, but the utility model is not limited thereto, those skilled in the art of the present technique can carry out modification on the various forms according to principle of the present utility model, for example, drawing the utility model outside the processor frame has obviously used but not shown mould/number and digital-to-analog converter.Therefore, all modifications of being done according to the utility model principle all should be understood to fall into protection domain of the present utility model.
Claims (9)
1. the 3G robot (10) based on 3G mobile communication network (11) comprises 3G mobile (1) and mobile monitoring system (8) based on described 3G mobile communications network (11), it is characterized in that also comprising:
The intelligence control system (9) that connects described 3G mobile (1) and mobile monitoring system (8);
The adapter (2) that connects described 3G mobile (1) and intelligence control system (9);
Described intelligence control system (9) also comprises the control module (5) that is used to connect voice recognition unit (4), mobile monitoring system (8), warning subsystem (6), household electrical appliances control subsystem (7).
2. 3G robot according to claim 1 (10) is characterized in that described adapter (2) has fixedly 3G mobile (1) in 3G robot (10), and is 3G mobile (1) charging.
3. 3G robot according to claim 1 (10) is characterized in that the described household electrical appliances control subsystem (7) that is used to send the instruction of control intelligent appliance equipment comprising:
Connect respectively described control module (5) a plurality of coding units (75-1,75-2,75-n); And
Connect described a plurality of coding unit (75-1,75-2,75-n) Shu Chu transmitting set (72).
4. 3G robot according to claim 1 (10) is characterized in that the described warning subsystem (6) that is used to accept the information that wireless alarm devices transmits comprising:
The wireless receiver of the wireless signal that the transmitter of receiving gate Magnetic Sensor, smoke sensor, temperature sensor, infrared sensor is launched (62); And
Connect described wireless receiver (62) output a plurality of decoder elements (65-1,65-2 ... 65-n), described a plurality of decoder elements (65-1,65-2 ... 65-n) connect control module (5) via bus.
5. 3G robot according to claim 1 (10) is characterized in that described intelligence control system (9) also comprises the modem module (3) that is used for the voice signal that the described 3G mobile of demodulation (1) received.
6. 3G robot (10) according to claim 1 is characterized in that described intelligence control system (9) also comprises the voice recognition unit (4) that is used for the decoded speech instruction and is converted into control signal.
7. 3G robot according to claim 1 (10) is characterized in that, the mode that described 3G mobile (1) sends information comprises: video calling or voice call.
8. 3G robot according to claim 1 (10) is characterized in that, described 3G mobile communications network (11) comprising: TD-SCDMA network or CDMA2000 network or WCDMA network.
9. 3G robot according to claim 1 (10) is characterized in that, described control mode comprises: 3G mobile (1) and telepilot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200820139561XU CN201327585Y (en) | 2008-10-27 | 2008-10-27 | 3G robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200820139561XU CN201327585Y (en) | 2008-10-27 | 2008-10-27 | 3G robot |
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| CN201327585Y true CN201327585Y (en) | 2009-10-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU200820139561XU Expired - Fee Related CN201327585Y (en) | 2008-10-27 | 2008-10-27 | 3G robot |
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| CN101693147A (en) * | 2009-10-20 | 2010-04-14 | 中兴通讯股份有限公司 | Method and device for remotely controlling toy by mobile phone |
| CN101858710A (en) * | 2010-05-18 | 2010-10-13 | 王元知 | Intelligent infantry weapon robot device |
| CN102528808A (en) * | 2010-12-29 | 2012-07-04 | 沈阳新松机器人自动化股份有限公司 | Multi-network convergence-based internet of things oriented robot |
| CN102932570A (en) * | 2012-10-12 | 2013-02-13 | 中国科学院深圳先进技术研究院 | Monitoring robot |
| CN103095941A (en) * | 2012-12-26 | 2013-05-08 | 鸿富锦精密工业（深圳）有限公司 | Intelligent adapter and remote control system comprising the same |
| CN103209271A (en) * | 2013-03-05 | 2013-07-17 | 胡东明 | Remote intelligent control system and method of built-in mobile type voice communication device |
| CN103235522A (en) * | 2013-04-03 | 2013-08-07 | 李博 | Remote-control robot system adopting interfaces of phone headset and the like |
| CN103268086A (en) * | 2013-04-18 | 2013-08-28 | 塔米智能科技（北京）有限公司 | Robot integrated with intelligent home system |
| CN103444210A (en) * | 2011-03-11 | 2013-12-11 | 英派尔科技开发有限公司 | Monitoring wireless nodes using portable device |
| CN103926912A (en) * | 2014-05-07 | 2014-07-16 | 桂林赛普电子科技有限公司 | Smart home monitoring system based on home service robot |
| CN104199390A (en) * | 2014-04-28 | 2014-12-10 | 东莞市万锦电子科技有限公司 | Internet of things system for robot |
| US8914139B2 (en) | 2011-05-09 | 2014-12-16 | Asustek Computer Inc. | Robot |
| CN104306118A (en) * | 2014-11-07 | 2015-01-28 | 重庆邮电大学 | Smartphone based family monitoring system on intelligent wheelchair |
| CN104503378A (en) * | 2014-11-05 | 2015-04-08 | 广州艾若博机器人科技有限公司 | Robot and household electrical appliance control method based on robot |
| CN104601838A (en) * | 2014-12-18 | 2015-05-06 | 深圳狗尾草智能科技有限公司 | Voice and wireless control intelligent household appliance operation system |
| CN104615028A (en) * | 2014-09-22 | 2015-05-13 | 东莞市万锦电子科技有限公司 | Internet of Things system for ground cleaning robot |
| CN104714411A (en) * | 2013-12-13 | 2015-06-17 | 青岛海尔机器人有限公司 | Intelligent household robot |
| CN104793588A (en) * | 2015-03-06 | 2015-07-22 | 赵功名 | Smart home system based on intelligent routing robot |
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| CN105137773A (en) * | 2015-07-30 | 2015-12-09 | 李博 | Household management robot system and method |
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| CN101693147A (en) * | 2009-10-20 | 2010-04-14 | 中兴通讯股份有限公司 | Method and device for remotely controlling toy by mobile phone |
| CN101693147B (en) * | 2009-10-20 | 2014-09-10 | 中兴通讯股份有限公司 | Method and device for remotely controlling toy by mobile phone |
| CN101858710A (en) * | 2010-05-18 | 2010-10-13 | 王元知 | Intelligent infantry weapon robot device |
| CN101858710B (en) * | 2010-05-18 | 2014-09-17 | 王元知 | Intelligent infantry weapon robot device |
| CN102528808A (en) * | 2010-12-29 | 2012-07-04 | 沈阳新松机器人自动化股份有限公司 | Multi-network convergence-based internet of things oriented robot |
| CN102528808B (en) * | 2010-12-29 | 2014-05-14 | 沈阳新松机器人自动化股份有限公司 | Multi-network convergence-based internet of things oriented robot |
| CN103444210B (en) * | 2011-03-11 | 2018-02-13 | 英派尔科技开发有限公司 | Radio node is monitored using mancarried device |
| CN103444210A (en) * | 2011-03-11 | 2013-12-11 | 英派尔科技开发有限公司 | Monitoring wireless nodes using portable device |
| US8914139B2 (en) | 2011-05-09 | 2014-12-16 | Asustek Computer Inc. | Robot |
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| US11064158B2 (en) | 2012-12-14 | 2021-07-13 | Samsung Electronics Co., Ltd. | Home monitoring method and apparatus |
| CN103095941B (en) * | 2012-12-26 | 2016-08-31 | 鸿富锦精密工业（深圳）有限公司 | Intelligent adapter and apply the remote control system of this intelligent adapter |
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| CN104918756B (en) * | 2012-12-28 | 2016-12-07 | （株）未来机器人 | Proprietary machine people |
| CN104918756A (en) * | 2012-12-28 | 2015-09-16 | （株）未来机器人 | Personal robot |
| CN112641403A (en) * | 2013-01-18 | 2021-04-13 | 艾罗伯特公司 | Mobile robot providing environment mapping for home environment control |
| US11648685B2 (en) | 2013-01-18 | 2023-05-16 | Irobot Corporation | Mobile robot providing environmental mapping for household environmental control |
| CN103209271A (en) * | 2013-03-05 | 2013-07-17 | 胡东明 | Remote intelligent control system and method of built-in mobile type voice communication device |
| CN103235522A (en) * | 2013-04-03 | 2013-08-07 | 李博 | Remote-control robot system adopting interfaces of phone headset and the like |
| CN103235522B (en) * | 2013-04-03 | 2016-04-06 | 李博 | Utilize the robot system of the Interface realization Long-distance Control such as handset earphone |
| CN103268086A (en) * | 2013-04-18 | 2013-08-28 | 塔米智能科技（北京）有限公司 | Robot integrated with intelligent home system |
| CN104714411A (en) * | 2013-12-13 | 2015-06-17 | 青岛海尔机器人有限公司 | Intelligent household robot |
| US11622499B2 (en) | 2014-01-21 | 2023-04-11 | Positec Power Tools (Suzhou) Co., Ltd. | Autonomous mower |
| CN106102446A (en) * | 2014-01-21 | 2016-11-09 | 苏州宝时得电动工具有限公司 | Automatic mower |
| CN104199390A (en) * | 2014-04-28 | 2014-12-10 | 东莞市万锦电子科技有限公司 | Internet of things system for robot |
| CN103926912B (en) * | 2014-05-07 | 2016-07-06 | 桂林赛普电子科技有限公司 | A kind of intelligent family monitoring system based on home-services robot |
| CN103926912A (en) * | 2014-05-07 | 2014-07-16 | 桂林赛普电子科技有限公司 | Smart home monitoring system based on home service robot |
| CN104615028A (en) * | 2014-09-22 | 2015-05-13 | 东莞市万锦电子科技有限公司 | Internet of Things system for ground cleaning robot |
| CN104503378A (en) * | 2014-11-05 | 2015-04-08 | 广州艾若博机器人科技有限公司 | Robot and household electrical appliance control method based on robot |
| CN104503378B (en) * | 2014-11-05 | 2018-01-30 | 广州艾若博机器人科技有限公司 | A kind of robot and the method for controlling household electrical appliances based on the robot |
| CN104306118A (en) * | 2014-11-07 | 2015-01-28 | 重庆邮电大学 | Smartphone based family monitoring system on intelligent wheelchair |
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